US5254914A - Position detection for a brushless DC motor without Hall effect devices using a mutual inductance detection method - Google Patents
Position detection for a brushless DC motor without Hall effect devices using a mutual inductance detection method Download PDFInfo
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- US5254914A US5254914A US07/546,236 US54623690A US5254914A US 5254914 A US5254914 A US 5254914A US 54623690 A US54623690 A US 54623690A US 5254914 A US5254914 A US 5254914A
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- motor
- time difference
- windings
- determining
- phases
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/20—Arrangements for starting
- H02P6/22—Arrangements for starting in a selected direction of rotation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/185—Circuit arrangements for detecting position without separate position detecting elements using inductance sensing, e.g. pulse excitation
Definitions
- the present invention is useful in a motor such as shown in U.S. application, Ser. No. 115,268, filed Oct. 30, 1987. Additionally, the invention is useful in motor control methods such as are disclosed in U.S. application Ser. No. 413,311, filed Sep. 27, 1989, and an application entitled POSITION DETECTION FOR A BRUSHLESS DC MOTOR WITHOUT HALL EFFECT DEVICES USING A TIME DIFFERENTIAL METHOD by John Dunfield, U.S. application Ser. No. 07/541,583.
- the present invention relates to method and apparatus for use with a brushless DC motor which provide the capability of detecting the rotor position when the motor is stopped without the use of known rotor position detecting elements such as Hall elements.
- the method presented here applies to any type of motor having an excitation flux created by a permanent magnet or by DC current excitation of a winding.
- a brushless motor is a motor in which the position of magnetic poles of a rotor are detected by means of a detector directly coupled to the shaft of the rotor. In response to the detected position, semiconductor switching elements such as transistors, thyristors or the like are turned on and off so as to continuously generate torque in the motor. Field windings or a multi-segment permanent magnet are used for the rotor.
- the torque is created by application of currents to stator or field windings in sequential order to produce a torque-inducing flux for moving a rotor.
- the DC currents are alternately switched about the field windings to create various current paths that produce magnetic flux orientations in a synchronized fashion.
- the magnetic flux so produced results in a torque on the motor that causes the desired rotational movement.
- sensing devices are used to provide information about the position of the rotor. Typically, this information is derived through systems such as Hall sensors, optical sensors or resolvers. These different systems do not give an absolute position, but enough information in order to know the relative position of the rotor in one electrical period. Therefore, it is possible using these devices to energize the motor in such a way that it starts in every case in the correct direction.
- Hall sensors the best known and most commonly used, especially in motors where economy and small size are of significant importance.
- the position of the Hall elements must be very precisely fixed.
- the heat resisting temperature of a Hall element is limited, so that deterioration of the characteristics of the motor can occur if the motor is heavily loaded.
- Another problem with these sensing device is that they are more prone to failure than most of the devices in which they are used.
- the Hall device significantly affects the overall reliability of the apparatus that incorporates the sensing device.
- incorporating these sensing devices in the motor structure itself increases the motor size, cost, complexity, power consumption and uses space that could be better utilized to increase the rotor size.
- a number of wire leads must be provided to each Hall effect device to bring out the information detected by the Hall device to a microprocessor or the like external to the motor shell.
- a third method for determining the rotor position at standstill involves driving the motor phases with a pair of short pulses, one positive and one negative, as disclosed in an application entitled "POSITION DETECTION FOR A BRUSHLESS DC MOTOR WITHOUT HALL EFFECT DEVICES USING A TIME DIFFERENTIAL METHOD" by John C. Dunfield, U.S. application Ser. No. 07/541,583 now U.S. Pat. No. 5,028,852. In the main, the rise time durations are subtracted and the signs of the differences are compared to determine the rotor position.
- Each of the above current detection methods indirectly measure the variations in phase inductance caused by the rotor position in permanent magnet motors.
- the rotor position detection method of the present invention utilizes the induced voltage in an undriven phase or phase pair that arises from the mutual inductance between the driven and undriven phases.
- An adaptation of the invention integrates the induced voltage. A caveat must be placed on the use of this technique; therefore, the method of the present invention is only useful in motors that have a significant mutual inductance amongst the phases such as motors having eight poles and six teeth.
- a dynamic indirect position detection as is already well known in the technology is contemplated.
- the position at start-up is determined by the injection of short current pulses in different motor phases, each phase or pair of phases being energized first by a pulse of one polarity and then of the opposite polarity.
- the induced voltage across the phase that is not being driven i.e., the voltage coupled to the phase via mutual inductance, is monitored.
- the voltage can be directly monitored or integrated before monitoring.
- the time required for the induced voltage to reach a predetermined magnitude or threshold is measured.
- the drive pulses are long enough to effectuate an accurate measurement, but not so long that the rotor moves.
- the sign and magnitude of the time difference between the decay times of the two pulses injected into the same phase or pair of phases is determined.
- Another feature of the present invention is the use of the magnitude of the time difference between the decay times (or rise time if coupled voltage integration is used) of the two pulses injected into the same phase or pair of phases as a confidence indicator. For example, if the magnitude of the time difference is large, the system is confident that an accurate representation of the rotor position will be realized by the time difference technique. However, if the magnitude of the time difference is small, there is a chance that the sign of the time difference for a given phase may be incorrect as a result of system noise or other anomalies. To alleviate the potential ambiguity, the system can lower the threshold used to measure the decay time, and consequently, increase the relative magnitudes of the decay times and the confidence level.
- This method in effect, gives results proportional to the mutual inductance of the different motor phases.
- the mutual inductance is not a function of winding resistance.
- the measurement is made in such a way that the influence of the temperature on the electrical time constants and the different possible variations in winding parameters are minimized. This method assures starting in the correct direction, and offers the ability to start the motor in the correct direction without detrimental back oscillation.
- FIG. 1 illustrates phase flux versus current in a phase of a brushless DC motor
- FIG. 2 illustrates current rise versus time in a brushless DC motor
- FIGS. 3A, 3B illustrate the amplitude of the drive current and voltage as compared to the amplitude of the voltage induced in the un-energized phase of a three-phase motor
- FIG. 4 is a block diagram which may be used to understand the approach to position detection according to the present invention.
- FIG. 5 is a timing diagram for the block diagram of FIG. 4;
- FIG. 6 illustrates the usefulness of incorporating the optional feature of a variable voltage reference into the present invention.
- FIGS. 7A, 7B are a flow chart summarizing the rotor position detection and motor start-up process of the present invention.
- FIG. 8 illustrates the integrated coupled signal
- Any polarized motor such as a brushless DC motor, including permanent magnets or excitation windings, has a local stator and rotor saturation level.
- phase inductances are a function of rotor position.
- the approach taken in the present invention is to measure the saturation level of the phase flux versus the current in a phase for each corresponding phase in such a way that the following parameters cannot influence measurement accuracy:
- the present invention measures the saturation level indirectly via monitoring the voltage induced in at least one un-energized winding.
- the method disclosed below and the apparatus used to implement it provide a reliable and efficient approach to determining the starting position for a motor, particularly a low power motor.
- phase total flux in the phase
- .sup. ⁇ PM total flux created by the permanent magnet or DC current excitation in the corresponding phase
- L inductance of the phase; L is a function of the current i and the motor rotor position a
- the total flux .sup. ⁇ phase can be increased or decreased by the current effect, thus modifying the saturation level.
- i + current in the phase, the current creates a positive flux (same flux direction as .sup. ⁇ PM).
- FIG. 1 represents the two possible cases for a given position when motor is in a standstill state.
- phase current can be written as:
- FIG. 2 shows the two different currents, where current i - is represented by its absolute value.
- the measurable currents are functions of the winding resistance as well as the inductance. Resistance variations will cause unnecessary errors in the rotor position determination.
- the preferred embodiment of the present invention avoids the potential for error due to the winding resistance by measuring the inductance value directly.
- the voltage and current relationships amongst the phases for a three-phase motor can be expressed as a matrix equation:
- M is the mutual inductance term. It is a function of the phase inductance, including the variations caused by the rotor position, and a constant, usually about 0.5 for the class of spindle motors including: 8-pole, 12-teeth; 12-pole, 9-teeth; 8-pole, 6-teeth, etc.
- Equation set [7] establish that driving one phase, for example phase 1, with a given current pulse, i 1 , will cause a voltage in phase 2, v 2 , that is directly proportional to the phase inductance via the mutual inductance term, Y 12 .
- FIG. 3 depicts the drive voltage v 1 and current pulse il as compared to the induced voltage v 3 in the non-driven phase of a three-phase motor. Equation set [7]shows that either each phase can be driven independently, or the phases can be driven as phase pairs without compromising the detectibility of the mutual inductance term.
- the rise time of the induced voltage is virtually instantaneous. Defining a fixed voltage threshold V ref , it is possible to compare the time required for each induced voltage to rise through the reference level and decay back to the predetermined reference value.
- FIG. 3 depicts this scenario.
- the decay duration, T 1 - T 0 or T 2 - T 0 in FIG. 3 is the controlling function. Therefore, the time required to reach an arbitrarily set voltage magnitude on each voltage response curve is substantially a function of the decay time.
- the decay duration can be referenced to any time, T 0 .
- the point at which the driver begins the short pulse is an easily-implemented reference point.
- FIG. 4 An example of the apparatus used to measure motor position at standstill using the method of the present invention is depicted in FIG. 4 for a three-phase motor.
- the process described the following discussion is not intended to be exhaustive, but merely an example. Other implementations for phase-to-phase, low-level signal detection are possible.
- each phase of a motor 104 is supplied first with a positive current i 1 + and then with a negative current i 1 - .
- the phase to be monitored is chosen by switch 109.
- the rising edge of the induced voltage v 3 caused by i 1 + triggers the comparator 106 as the value of the induced voltage exceeds the reference voltage of source 108.
- the rising edge of the comparator output starts the timer 110.
- timer 110 is a digital counter.
- the pulse generator 100 output could be used to start the timer 110 at the time that the pulse generator 100 pulses the driver 102.
- Each phase is supplied the current until the voltage across the undriven phase, ⁇ 3 in FIG. 4, becomes smaller than the comparator's 106 reference voltage 108.
- the comparator's output toggles to a new state and signals both the pulse generator 100 and the timer 110 to stop.
- the elapsed time of the comparator's output pulse is stored in memory 112.
- the same phase pair, ⁇ 1 and ⁇ 2 is now energized using a negative current i 1 - through driver 102.
- the resulting induced voltage is inverted by circuit 105 and triggers comparator 107 when it exceeds a predetermined threshold set by a voltage source 108 and resets the comparator 107 when the voltage falls below the threshold.
- the timer 110 is triggered by a signal from the comparator 107 which corresponds to the leading edge of the voltage pulse and is stopped by the comparator 107 trigger as the voltage falls below the threshold.
- the duration of the negative signal is stored in memory 114.
- the reference voltage source 108 in its simplest form, is fixed.
- the same power supply used to power the other components of the system should be used as the reference source 108.
- This will take advantage of the common-mode rejection of the comparator 106, 107 to limit the effects of power supply noise on the position detection system.
- source flexibility using a digital-to-analog converter controlled by a micro-processor is useful in tailoring the reference voltage to a specific application or allowing the reference voltage to be dynamically changed to accommodate motor parameter variations.
- An optional improvement on the present invention is realized by utilizing the magnitude of the time difference to provide a confidence indicator as to the validity of the sign determination.
- the circuit is called the magnitude analyzer 124.
- the system may not decide on the correct value of the sign if the magnitude is small and susceptible to noise corruption. Therefore, a higher confidence is realized if the magnitude of the difference is significant. A determination of a low confidence level will inhibit the use of the position information and the position detection process is repeated. If a variable reference source is used, the threshold level V ref1 may be lowered V ref2 to create a larger time difference ⁇ t 2 , see FlG. 5, and increase the confidence in the measurement.
- the addition of the magnitude analyzer 124 and variable threshold circuitry increases the complexity of the system.
- the two stored time values are subtracted 116 and the sign of the difference is stored in another memory location 118.
- the timer 110, subtractor 116, and all of the memory locations 112, 114, 118, 120, 122 could either be constructed using discrete hardware components or their functions could be accomplished by the disk drive's on-board microprocessor as software functions.
- the process described above is repeated for each of the windings resulting in two more memory locations 120, 122 being filled with sign values.
- the vector of sign values is used to point into a look-up table 126, typically defined by software.
- the look-up table 126 provides the phase excitation order necessary to start the motor in the proper direction.
- the correct phase excitation order is sent to driver 102 and motor 104 is started in the desired direction.
- the state selection process will be inhibited and the position detection process will be repeated using a different reference voltage level.
- the table below depicts a typical look-up table for a 3-phase star configuration motor.
- the sign of the time difference is encoded such that a positive value is a digital 1 and a negative value is a digital 0.
- the three bit vector describes a particular rotor position with a ⁇ /3 or 60 degree accuracy. Using this position vector, the corresponding phase excitation sequence is determined and executed.
- An alternative embodiment of the present invention includes an integrator circuit 130 between the windings centertap and the comparators 106, 107 as shown in FIG. 4. Most simply, the integrator circuit 130 is accomplished with a passive low pass filter, as depicted. However, an active integrator using an operational amplifier could also be utilized. The integrated coupled signal is illustrated in FIG. 8. The comparators 106, 107 measure signal rise time to a threshold rather than decay time as in the previously-described embodiment. The inclusion of the integrator may provide error protection via enhanced noise immunity for the system.
- the preferred embodiment of the present invention can be depicted as a flow chart as shown in FIG. 6.
- the motor 104 is at a standstill at the flow chart start 200.
- Both the threshold level V ref and the phase counter are intitialized 201, 203.
- Phase n, or a combination of phases n is driven in step 205 with a short positive current pulse.
- a counter is started at step 207 when the induced voltage rises in the un-energized phases above the threshold V ref .
- the counter is stopped at step 209 when the decaying induced voltage falls below V ref .
- the time duration determined by the counter is stored in step 211 as t + .
- the same phase (or phase combination) is then pulsed with a short negative current and the decay time is again measured, steps 215, 217 and 219.
- the negative pulse's decay time is represented by t - .
- step 221 the decay time from the negative pulse t - is subtracted from the decay time of the positive pulse t + .
- the result is the time difference between the decay times represented by ⁇ t.
- Step 229 determines if all the phases m have been tested. If not, the phase number is incremented by 1, step 231, and the process repeats at step 205 by pulsing the next phase. If all of the phases have been addressed by the system, i.e., n equals m, then the stored values of the sign of the time differences are accessed and used to determine the position of the rotor at step 233.
- a look-up table as previously described, is used to determine which phases must be energized to accurately start the motor and the motor is started in step 235. Thus, ending the process of the present invention.
- step 223 compares the magnitude of ⁇ t to a confidence factor X.
- the magnitude of X depends on motor characteristics. If ⁇ t is less than X, the system is not confident that the sign of ⁇ t is accurately determinable. Subsequently, step 225 is initiated.
- Previous methods used to determine position of the rotor have always driven a phase or set of phases with a short current pulse or set of current pulses and monitored the response to said current pulses on the same phases which were driven.
- Monitoring apparatus of prior methods observed peak voltage responses amongst all phases, peak voltage responses amongst phase pairs, or variations in pulse rise times in response to the drive current pulse. The observed voltages or rise times are determinative of rotor position.
- the same phenomenon can be monitored; i.e., voltages or rise times, but the monitoring apparatus functions by observing the responses induced in the unenergized phase.
- the result is the same, but the method of achieving the result is very different.
- An accurate measure of the rotor position is achieved, but the present invention's use of the mutual inductance removes the detrimental effects of phase winding resistance variations.
Abstract
Description
.sup.Ψ phase=.sup.Ψ PM+L·i
L=L.sub.o -ΔL.sup.+ [2]
L=L.sub.o +ΔL.sup.- [3]
i=U/R(l-e.sup.R/L·t) [4]
______________________________________ v.sub.1 = X Y Y i.sub.1 kwsinΦ [7] v.sub.2 = Y X Y i.sub.2 + kwsin(Φ - 120°) v.sub.3 = Y Y X i.sub.3 kwsin(Φ - 240°) ______________________________________
______________________________________ Rotor Position in Sign of Phase Excitation Electrical Degree Δt1 Δt2 Δt3 Φ1 Φ2 Φ3 ______________________________________ 0 ± 30 0 1 0 1 0 0 60 ± 30 0 1 1 1 1 0 120 ± 30 0 0 1 0 1 0 180 ± 30 1 0 1 0 1 1 240 ± 30 1 0 0 0 0 1 300 ± 30 1 1 0 1 0 1 ______________________________________
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